KR20190091090A - Solar panel module cleaning robot - Google Patents

Abstract

The present invention relates to a solar panel module cleaning robot. Provided is the solar panel module cleaning robot comprising: a solar panel module for producing energy from the sun in which a unit panel unit is multiple-connected in a perpendicular and horizontal direction; a cleaning robot having a plurality of adsorption units mounted thereon for cleaning an upper surface of the solar panel module; and a control unit device for sequentially adjusting an adsorption force of the plurality of adsorption units. Therefore, an objective of the present invention is to provide the solar panel module cleaning robot which can sequentially adjust the adsorption force of the plurality of adsorption units mounted on the cleaning robot.

Description

Solar Panel Module Cleaning Robot {SOLAR PANEL MODULE CLEANING ROBOT}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a solar panel module cleaning robot, and more particularly, to a solar panel module cleaning robot capable of effectively controlling the adsorption force of an adsorption plate mounted on a cleaning robot to prevent the cleaning robot from leaving the solar panel module. will be.

In general, human beings consume energy. Therefore, humans obtain and use naturally provided energy or artificially generate and use energy as needed. The energy thus obtained may be classified into solar energy, nuclear energy, wind energy, thermal energy, hydro energy, tidal energy, and geothermal energy, depending on the source of energy.

Dual solar energy is difficult to collect a large amount of energy quickly because of the low energy density, there is a problem that the energy collection is determined by the influence of the weather, but there is no pollution and the energy can be obtained almost indefinitely. As it has, it is attracting much attention as a renewable energy these days.

In particular, since the Fukushima nuclear plant accident in Japan, interest in environmentally friendly energy such as solar energy is increasing, and accordingly, solar panel modules that produce solar energy have been installed in various sizes around the world. This trend is expected to continue until new kinds of energy sources are developed.

On the other hand, the solar panel module is the most essential configuration of the solar panel for condensing sunlight. Therefore, when dust, yellow sand, dust, etc. accumulate on the surface of the solar panel, the condensation rate drops to a maximum of 35%. The reduction in the concentration rate means a decrease in the efficiency of generating solar energy. Therefore, it is necessary to periodically clean the surface of the solar panel in order to increase the production efficiency of the solar panel module.

In this regard, conventionally, manpower has been mobilized in cleaning solar panels. In the case of mobilizing manpower, not only cleaning costs such as work cost and labor cost are high, but the concentration rate is changed according to the cleaning ability of the worker, which makes it difficult to guarantee the minimum fixed concentration rate. For reference, the minimum definite concentrating rate means the minimum condensing rate guaranteed by the solar panel.

Therefore, recently, a cleaning robot for cleaning solar panels has been developed, which makes it possible to reduce the work and labor costs and to secure a minimum definite condensing rate. Although cleaning robots have a relatively high price point, the use of cleaning robots has a long-term advantage, so the placement of the cleaning robot in the installation of a solar panel module is no longer an optional factor.

On the other hand, the solar panel is basically formed at a predetermined distance from the ground and inclined at a predetermined angle, it is generally installed as a single solar panel module by connecting a plurality of solar panels in the longitudinal direction rather than being installed as a single. In addition, the cleaning robot moves on top of the solar panel module installed as described above and performs the cleaning operation.

As the working environment of the cleaning robot is as described above, the cleaning robot moving on the upper part of the solar panel module may slide out of the solar panel due to an undesired situation and fall to the ground, thereby causing a breakdown or damage. The failure or damage of the cleaning robot is a factor that adds to the maintenance cost, and it is a factor to lower the light collection rate because the cleaning operation of the solar panel cannot be performed until the maintenance is completed.

Accordingly, an object of the present invention is to provide a solar panel module cleaning robot capable of sequentially adjusting the adsorption force of a plurality of adsorption units mounted on the cleaning robot.

In addition, another object of the present invention to provide a solar panel module cleaning robot that can adjust the adsorption force of the adsorption plate according to the surface state or the forming angle of the solar panel module.

In addition, another object of the present invention is to provide a solar panel module cleaning robot capable of generating an overall layout of the solar panel module and controlling the movement path through the solar panel module.

The problems of the present invention are not limited to those mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention for achieving the objects and other features of the present invention, a plurality of unit panels unit consisting of a solar panel of a predetermined size and a frame formed on the outside of the solar panel connected in the longitudinal direction A solar panel module for producing energy from the sun; A cleaning robot equipped with a plurality of adsorption units, moving from the unit panel unit to an adjacent unit panel unit to clean the upper surface of the solar panel module; And there is provided a solar panel module cleaning robot comprising a control unit device for sequentially adjusting the adsorption force of the plurality of adsorption units.

In this invention, it is preferable that the said control unit apparatus controls the moving direction of the said washing robot, and adjusts the adsorption force of the said several adsorption unit sequentially according to the moving direction of the said washing robot.

In the present invention, the cleaning robot, the body; A wheel unit rotatably provided on the body to move the body; A cleaning unit exposed to the lower part of the body to clean the surface of the solar panel; A plurality of adsorption units for adsorbing the body to the surface of the solar panel; And a processor unit for controlling driving of the wheel unit, the cleaning unit, and the plurality of adsorption units.

In the present invention, each of the plurality of adsorption units may include: an adsorption part exposed to a lower portion of the body so as to be adsorbable on the surface of the solar panel and having adsorption holes formed therein; A suction pump which sucks air through the suction hole and generates suction force in the suction part; And it is preferable that one side is connected to the suction hole, the other side includes a connection hose connected to the suction pump.

In the present invention, it is preferable to further include a drag transmission unit for transmitting the vertical drag generated by the adsorption force of the plurality of adsorption units to the wheel unit side.

In the present invention, it is preferable to further include a plurality of reference modules disposed on the edge of the solar panel module for providing information on its own position and relative distance between the cleaning robot.

In the present invention, it is preferable to control the adsorption force of the plurality of adsorption units through the layout of the solar panel module generated through the position information and the relative distance information and the position of the cleaning robot.

According to another aspect of the present invention for achieving the objects and other features of the present invention, in the operating method of the cleaning robot for cleaning the solar panel module, the first of the plurality of adsorption units mounted to the cleaning robot Forming a first adsorption force capable of adsorption and movement on the adsorption unit and the second adsorption unit; Removing the adsorption force of any one of the first and second adsorption units according to the moving direction of the cleaning robot, and sequentially forming a second adsorption force higher than the first adsorption force in the remaining adsorption units; And reforming the first suction force to the first and second suction units.

In the present invention, the solar panel module is a plurality of unit panel unit consisting of a solar panel of a predetermined size and a frame formed on the outside of the solar panel is connected in a longitudinal and horizontal direction, the first and second adsorption unit Forming the first adsorption force and reforming the first adsorption force when the solar panel is located in the solar panel, and sequentially adsorbing the adsorption force when the first or second adsorption unit is positioned in the frame. It is preferable that the forming step is made.

The solar panel module cleaning robot according to the present invention provides the following effects.

The present invention has the effect of reducing the repair cost for the failure or breakage caused by the fall by preventing the cleaning robot falls to the outside of the solar panel module by sequentially adjusting the adsorption force of the plurality of adsorption units.

The present invention has the effect of optimizing the energy consumption in forming the adsorption force by adjusting the adsorption force of the adsorption plate according to the surface state or formation angle, the movement direction of the solar panel module.

The present invention has the effect of optimizing the movement efficiency of the cleaning robot by generating the entire layout of the solar panel module to control the movement path of the cleaning robot.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a schematic diagram for schematically illustrating a solar panel module cleaning robot according to an embodiment of the present invention.
2 and 3 are views for explaining a part of the configuration of the cleaning robot of FIG.
4 is a view for explaining a plurality of adsorption units of FIG.
5 and 6 are views showing a process of restoring the deformation of the body generated during the driving process of the cleaning robot according to an embodiment of the present invention.
7 is a view for explaining the wheel unit of FIG.
FIG. 8 is a partial perspective view for explaining the solar panel module 300 of FIG. 1 in detail.
FIG. 9 is a schematic diagram illustrating an adsorption operation of the plurality of adsorption units 200 of FIG. 3.

Description of the present invention is only an embodiment for structural or functional description, the scope of the present invention should not be construed as limited by the embodiments described in the text. That is, since the embodiments may be variously modified and may have various forms, the scope of the present invention should be understood to include equivalents capable of realizing the technical idea. In addition, the objects or effects presented in the present invention does not mean that a specific embodiment should include all or only such effects, the scope of the present invention should not be understood as being limited thereby.

On the other hand, the meaning of the terms described in the present application should be understood as follows.

Terms such as "first" and "second" are intended to distinguish one component from another component, and the scope of rights should not be limited by these terms. For example, the first component may be named a second component, and similarly, the second component may also be named a first component.

When a component is referred to as being "connected" to another component, it should be understood that there may be other components in between, although it may be directly connected to the other component. On the other hand, when a component is referred to as being "directly connected" to another component, it should be understood that there is no other component in between. On the other hand, other expressions describing the relationship between the components, such as "between" and "immediately between" or "neighboring to" and "directly neighboring to", should be interpreted as well.

Singular expressions should be understood to include plural expressions unless the context clearly indicates otherwise, and terms such as "comprise" or "have" refer to a feature, number, step, operation, component, part, or feature that is implemented. It is to be understood that the combination is intended to be present and does not exclude in advance the possibility of the presence or addition of one or more other features or numbers, steps, operations, components, parts or combinations thereof.

In each step, an identification code (e.g., a, b, c, etc.) is used for convenience of description, and the identification code does not describe the order of the steps, and each step clearly indicates a specific order in context. Unless stated otherwise, they may occur out of the order noted. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. Generally, the terms defined in the dictionary used are to be interpreted to coincide with the meanings in the context of the related art, and should not be interpreted as having ideal or excessively formal meanings unless clearly defined in the present application.

1 is a schematic diagram for schematically illustrating a solar panel module cleaning robot according to an embodiment of the present invention.

Referring to FIG. 1, in the solar panel module cleaning robot, a unit panel unit 310 including a solar panel 311 having a predetermined size and a frame 312 formed on the outside of the solar panel 311 has a vertical direction. Is connected to a plurality, solar panel module 300 for producing energy from the sun; A cleaning robot (100) mounted with a plurality of adsorption units (200, see FIG. 3) and moving from the unit panel unit 310 to an adjacent unit panel unit to clean the upper surface of the solar panel module 300; And a control unit device (not shown) for sequentially adjusting the adsorption force of the plurality of adsorption units 200.

The cleaning robot 100 moves the solar panel module 300 spaced apart from the ground by a predetermined height and has a predetermined angle and cleans the upper surface of the solar panel module 300. As will be described later, a plurality of adsorption units 200 are mounted on the lower surface of the cleaning robot 100 to allow adsorption movement on the upper surface of the solar panel module 300, and the cleaning robot 100 controls the control unit device. It is possible to move according to the predetermined movement path.

In other words, the cleaning robot 100 may move the solar panel module 300 and clean the upper surface of the solar panel module 300 under the control of the control unit device. Due to the plurality of adsorption units installed, the cleaning robot 100 may prevent the accident from the solar panel module 300 and the fall accident to the ground.

2 and 3 are views for explaining a part of the configuration of the cleaning robot 100 of FIG. For reference, the cleaning robot 100 may be composed of a main body and a case (not shown) coupled to the main body is seated and coupled, for the convenience of the description will be described with a focus on the main body configuration except the case Shall be.

2 and 3, the cleaning robot 100 includes a wheel unit 150, a cleaning unit 120, an adsorption unit 200, and a processor unit (not shown).

First, an important component such as the wheel unit 150, the cleaning unit 120, and the processor unit and other components are seated and coupled to the body that is the main body of the cleaning robot 100.

The body is formed by a pair of substrates 110 having a flat plate shape spaced apart as predetermined in the vertical direction. In addition, a camera set configured by combining a thermal imaging camera module and a small camera module for detecting a surface state of the solar panel module 300 may be provided between the pair of substrates 110 spaced up and down. A gyro sensor and a proximity sensor may be provided to detect an inclination of the optical panel module 300 and the cleaning robot 100.

Here, the camera set serves to detect cracks and hot spots on the surface of the solar panel 311, and the gyro sensor and the proximity sensor detect the degree of inclination of the solar panel module 300 or the cleaning robot 100. Serves to detect the relative degree of parallelism.

Here, the camera set, the gyro sensor, the proximity sensor and the like are controlled by the processor unit which is a control unit device. As will be described later, the processor unit, which is a control unit device, controls the wheel unit 150, the cleaning unit 120, and the plurality of adsorption units 200, and in particular, sequentially adjusting the adsorption force of the plurality of adsorption units 200. It is possible.

On the other hand, the cleaning unit 120 is exposed to the lower portion of the body serves to clean the surface of the solar panel 311. In the present embodiment, the cleaning unit 120 has an example in which two guns are provided at the front and the rear of the body, respectively.

Specifically, the cleaning unit 120 includes a brush driving unit 123 for generating a rotational driving force, and a brush unit 121 for performing a cleaning operation. The brush unit 121 includes a rotating bar 121a that is provided on the body and rotated by the brush driving unit 123 and a brush 121b that is disposed around the rotating bar 121a to clean the solar panel 311. do.

Here, the brush driver 123 and the rotation bar 121a may be connected by the belt member 123 to be configured to transmit power. In addition, the brush 121b is arranged in a spiral form along the longitudinal direction of the rotation bar 121a, thereby performing a more sophisticated cleaning operation.

Next, the plurality of adsorption units 200 serve to adsorb the body to the solar panel 311. The plurality of adsorption units 200 form a predetermined amount of adsorption force between the cleaning robot 100 and the solar panel module 300, and the cleaning robot 100 is formed by the solar panel module 300 by the adsorption force. It is possible to prevent departures and falls.

FIG. 4 is a view for explaining the plurality of adsorption units 200 of FIG. 3, and for the convenience of description, one of the plurality of adsorption units 200 is representatively shown.

Referring to FIG. 4, the adsorption unit 200 includes an adsorption unit 240, a suction pump 210, a connection hose 250, and a drag transmission unit 220.

The adsorption part 240 is exposed to the lower part of the body so as to be adsorbable on the surface of the solar panel 311, and the adsorption hole 251 is formed in the center. In addition, the suction pump 210 controls the suction force to be formed in the suction unit 240 by sucking the air through the suction hole 251.

Here, the suction pump 210 may include a motor for a function to suck air and discharge it to the outside, the suction unit 240 is a solar panel 311 through the suction force generated by the suction pump 210 It is possible to adsorb | suck to the surface of).

At this time, the suction force of the suction pump 210 may be controlled in real time by the above-described processor. For example, the processor unit may control the suction force of the suction pump 210 to be maintained above the reference when the body is to be strongly fixed to a predetermined position, and the suction force of the suction pump 210 is below the reference when the body needs to be moved. It can be controlled to maintain the movement by the rotation of the wheel unit 150 in the adsorption state.

Subsequently, the lower portion of the adsorption part 240 may be provided with a thin film of a low friction material, and thus the body may easily move in the adsorption state of the adsorption part 240.

On the other hand, the connection hose 260 is one side is connected to the suction hole 251, the other side is provided to be connected to the suction pump 210 to form a path for transmitting the suction force of the suction pump 210.

In particular, in the present embodiment, the suction unit 240 may include a connection member 250 fixed to the body so that the connection hose 260 and the drag transmission unit 220 can be connected.

The drag transmission unit 220 serves to transfer the vertical drag generated by the suction force of the suction unit 200 to the wheel unit 150 side.

As shown in FIG. 5, when the adsorption unit 240 generates the adsorption force by the suction pump 210, vertical drag occurs as the adsorption unit 240 comes into close contact with the surface of the solar panel 311. Done. Thus, in this embodiment, the drag transmission unit 200 may distribute and transmit the vertical drag generated by the adsorption unit 240 to the wheel unit 150 using the body as a medium.

Specifically, as shown in FIG. 6, the drag transmission unit 200 is directly connected to the cylinder 220a provided at the upper portion of the body and the upper portion of the body, and the piston 220b is formed to be movable up and down within the cylinder 200a. It may include a drag transmission module 220 and a support member 230 for generating a support force between the cylinder 220a and the body 100.

Accordingly, when vertical drag is generated by the adsorption unit 240, the drag transmission unit 200 moves the piston 220b upward in the cylinder 220a. At this time, since the support member 230 is connected to the body to maintain a fixed state, the generated vertical drag is the wheel unit 150 via the body as a medium by the movement of the piston 220b and the interaction of the support member 230. As delivered to the) side can maximize the adhesion of the wheel unit 150.

Subsequently, the processor unit may control the stroke distance of the piston 220b according to the adsorption force of the adsorption unit 240. Accordingly, the drag transmission unit 200 controls the piston 220b to correspond to the vertical force generated by the adsorption force. Can be controlled.

7 is a view for explaining the wheel unit 150 of FIG.

As shown in FIG. 7, the wheel unit 150 is rotated by the driving force of the wheel driving unit 160 with respect to the center point, and is spaced between the rotating members 151 and the pair of rotating members 151 spaced side by side. It is rotatably provided, and includes a plurality of roller members 152 protruding outward from the circumference of the rotating unit 151. Here, the wheel driving unit 160 is controlled in real time by the processor unit according to the surface state of the solar panel 311, that is, dust or directivity.

More specifically, a plurality of roller connecting portions 151a for rotatably constraining the roller member 152 are formed at the circumference of the rotating member 151, and the roller member 152 is disposed between the pair of rotating members 151. It is provided rotatably.

The roller member 152 may be formed to be in point contact with the surface of the solar panel, in the present embodiment is formed in such a shape that the diameter of the cross-section gradually increases from the outside to the center side.

The roller member 152 may be fixed at an inclined angle with respect to the advancing direction of the body. This further improves the grip force of the wheel unit 150 to prevent slipping on the solar panel 311 while minimizing the contact area of the solar panel 311 so that the solar panel 311 is driven by the wheel unit 150. This is to prevent the surface of the contamination.

FIG. 8 is a partial perspective view for describing the solar panel module 300 of FIG. 1 in detail, and two of the plurality of unit panel units 310 are illustrated as an example for convenience of description.

Referring to FIG. 8, the solar panel module 300 includes a first unit panel unit 310A and a second unit panel unit 310B connected in the vertical and horizontal directions.

The first unit panel unit 310A includes a first solar panel 311A and a first frame 312A formed outside thereof, and the second unit panel unit 310B includes a second solar panel 311B. And a second frame 312B formed outside thereof.

Thus, the cleaning robot 100 moves from the first unit panel unit 310A to the adjacent second unit panel unit 310B and cleans the solar panel module 300 or vice versa in the second unit panel unit 310B. The solar panel module 300 may be cleaned while moving to the adjacent first unit panel unit 310A.

Meanwhile, although described above, the cleaning robot 100 has a plurality of adsorption units 200 formed therein, and the adsorption force of the plurality of adsorption units 200 is sequentially controlled through a control unit such as a processor unit. This will be described with reference to the following drawings.

FIG. 9 is a schematic diagram for describing an adsorption operation for the plurality of adsorption units 200 of FIG. 3. For convenience of description, the adsorption unit disposed behind the plurality of adsorption units 200 based on the moving direction (arrow) is called the first adsorption unit 200A, and the adsorption unit disposed forward based on the moving direction is provided. 2 adsorption unit 200B.

8 and 9, the cleaning robot 100 may move from the first unit panel unit 310A to the second unit panel unit 310B and clean the solar panel module 300.

First, (A) is a case where the cleaning robot 100 is disposed above the first unit panel unit 310A. At this time, the first adsorption unit 200A and the second adsorption unit 200B are positioned on the first solar panel 311A of the first unit panel unit 310A, and a predetermined adsorption force is formed to be in a state where adsorption movement is possible. . For convenience of description, the adsorption force formed in the first adsorption unit 200A will be defined as 70 and the adsorption force formed in the second adsorption unit 200B will be defined as 70.

Next, (B) is a start step in which the cleaning robot 100 attempts to move from the first unit panel unit 310A to the second unit panel unit 310B. At this time, the first adsorption unit 200A is positioned in the first solar panel 311A of the first unit panel unit 310A, and the second adsorption unit 200B is the first frame of the first unit panel unit 310A ( 312A) and / or second frame 312B.

In this case, the first and second frames 312A and 312B are formed outside the first and second solar panels 311A and 311B to be connected to or fixed to each other. , 200B) may not have a shape that is completely in close contact with each other. In particular, the first and second solar panels 311A and 311B and the first and second frames 312A and 312B may have stepped portions, and thus adsorption force may not be formed. Therefore, the control unit apparatus removes the suction force when the second suction unit 200B is located in the first frame 312A or / and the second frame 312B.

That is, the suction force of the second suction unit 200B is adjusted to zero as the suction force is removed. At this time, the cleaning robot 100 should be substantially adsorbed to the first solar panel 311A by the adsorption force by the first adsorption unit 200A. Therefore, the adsorption force of the first adsorption unit 200A is preferably adjusted to 90 higher than the adsorption force 70 formed in (A). For reference, even if the adsorption force is adjusted to 90, the cleaning robot 100 should be capable of adsorption movement.

Next, (C) is a step in which the cleaning robot 100 finishes moving from the first unit panel unit 310A to the second unit panel unit 310B. At this time, the first adsorption unit 200A is located in the first frame 312A or / and the second frame 312B of the first unit panel unit 310A, and the second adsorption unit 200B is the second unit panel unit. It is located in the second solar panel 311B of 310B. Therefore, in the case of (C), similarly to the case of (B), the adsorption force of the first adsorption unit 200A is adjusted to 0, and the adsorption force of the second adsorption unit 200B is adjusted to 90.

Finally, (D) is a case where the cleaning robot 100 is completely moved to the second unit panel unit 310B and disposed above the second solar panel 311B. At this time, the first adsorption unit 200A and the second adsorption unit 200B are positioned on the second solar panel 311B of the second unit panel unit 310B, and the first adsorption unit 200A and the second adsorption unit 200B are disposed on the first adsorption unit 200A to facilitate movement. The adsorption force formed is adjusted to 70 as in the case of (A), and the adsorption force formed on the second adsorption unit 200B is adjusted to 70.

The cleaning robot 100 according to the embodiment of the present invention may sequentially adjust the adsorption force of the first adsorption unit 200A and the second adsorption unit 200B according to the advancing direction of the cleaning robot 100. The suction force control operation prevents the fall of the cleaning robot 100, ensures movement between the unit panels, and optimizes the energy used to form the suction force.

Meanwhile, referring back to FIG. 1, each of the solar panels 311 corresponding to each corner of the solar panel module 300 includes a plurality of reference modules 400A, for defining a layout of the solar panel module 300. 400B, 400C, and 4000C) are disposed.

The plurality of reference modules 400A, 400B, 400C, and 4000C provide their position information and relative distance information between the cleaning robot 100, and the processor unit mounted on the cleaning robot 100 provides position information and relative distance information. It is possible to collect and generate the layout of the solar panel module 300 and to define its position as the cleaning robot 100 in the solar panel module 300.

In more detail, the cleaning robot 100 is equipped with a plurality of reference modules 400A, 400B, 400C, and 4000C and a wireless communication device capable of measuring distance, and through this, the cleaning robot 100 and a plurality of reference modules ( It is possible to measure the relative distances of 400A, 400B, 400C, and 4000C. In addition, since the plurality of reference modules 400A, 400B, 400C, and 4000C are disposed at the edges of the solar panel module 300, it is also possible to predict the layout layout of the solar panel module 300.

Thus, the processor unit may generate the layout of the solar panel module 300 through the location information of the plurality of reference modules 400A, 400B, 400C, and 4000C, and through the relative distance information with the cleaning robot 100. It is also possible to define the position of the cleaning robot 100 in the layout thus generated.

The layout of the solar panel module 300 generated by the processor unit and the position of the cleaning robot 100 defined in the layout may be used to control the movement path of the cleaning robot 100. Thus, for example, when the cleaning robot 100 moves to the fall danger area of the solar panel module 300, it is possible to prevent the fall accident of the cleaning robot 100 by increasing the suction force.

The embodiments and the accompanying drawings described herein are merely illustrative of some of the technical ideas included in the present invention. Therefore, since the embodiments disclosed herein are not intended to limit the technical spirit of the present invention, but to explain, it is obvious that the scope of the technical spirit of the present invention is not limited by these embodiments. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

100: cleaning robot
200: multiple adsorption units
300: Solar Panel Module
311: Solar Panel
312 frame

Claims (9)

A solar panel module connected to a plurality of unit panel units comprising a solar panel having a predetermined size and a frame formed outside the solar panel in a vertical and horizontal direction, for producing energy from the sun;
A cleaning robot equipped with a plurality of adsorption units, moving from the unit panel unit to an adjacent unit panel unit to clean the upper surface of the solar panel module; And
And a control unit device for sequentially adjusting the adsorption force of the plurality of adsorption units.
Solar panel module cleaning robot.
The method of claim 1,
The control unit device,
The solar panel module cleaning robot, characterized in that it controls the moving direction of the cleaning robot, and sequentially adjusts the suction force of the plurality of adsorption units according to the moving direction of the cleaning robot.
The method of claim 1,
The cleaning robot,
The body;
A wheel unit rotatably provided on the body to move the body;
A cleaning unit exposed to the lower part of the body to clean the surface of the solar panel;
A plurality of adsorption units for adsorbing the body to the surface of the solar panel; And
And a processor unit controlling driving of the wheel unit, the cleaning unit, and the plurality of adsorption units.
Solar panel module cleaning robot.
The method of claim 1,
Each of the plurality of adsorption units,
An adsorption part exposed to a lower portion of the body so as to be adsorbed on a surface of the solar panel and having adsorption holes formed therein;
A suction pump which sucks air through the suction hole and generates suction force in the suction part; And
One side is connected to the suction hole, the other side includes a connection hose connected to the suction pump
Solar panel module cleaning robot.
The method of claim 1,
Further comprising a drag transmission unit for transmitting the vertical drag generated by the suction force of the plurality of suction units to the wheel unit side.
Solar panel module cleaning robot.
The method of claim 1,
It is disposed on the edge of the solar panel module, and further comprises a plurality of reference modules for providing their position information and the relative distance information between the cleaning robot
Solar panel module cleaning robot.
The method of claim 7, wherein
The solar panel module cleaning robot, characterized by controlling the adsorption force of the plurality of adsorption units through the layout of the solar panel module generated through the position information and the relative distance information and the position of the cleaning robot.
In the operation method of the cleaning robot for cleaning the solar panel module,
Forming a first adsorption force capable of adsorption and movement of a first adsorption unit and a second adsorption unit among a plurality of adsorption units mounted to the cleaning robot;
Removing the adsorption force of any one of the first and second adsorption units according to the moving direction of the cleaning robot, and sequentially forming a second adsorption force higher than the first adsorption force in the remaining adsorption units; And
Reforming the first adsorption force to the first and second adsorption units
Method of operation of the cleaning robot.
The method of claim 8,
The solar panel module is a plurality of unit panel unit consisting of a solar panel of a predetermined size and a frame formed on the outside of the solar panel is connected in a vertical and horizontal direction,
When the first and second adsorption units are located in the solar panel, forming the first adsorption force and reforming the first adsorption force are performed.
And when the first or second adsorption unit is located in the frame, sequentially forming the adsorption force.

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